Iam trying to implement an algorithm which involves several matrix inversions.The algorithm is an extended kalman filter which is a recursive one.
Can anybody help me in writing a C program to solve the inversion problem or any good links?
thanks in advance..!
Iam trying to write extended kalman filter algorithm in microC (dspic) software.
My question is how to invert a matrix in that software? I have read the manual but could'nt find any command for matrix inversion.pls check out the attachment.
can anyone help me out...!
thanks in advance.
Here is some information regarding the equation:[PLAIN]www.egr.msu.edu/classes/ece480/goodman/.../Final%20Report_Web.doc[/URL]
ON PAGE NUMBER 31.
Other documentation:From IEEE paper(Application of an Inertial Navigation System to the Quad-rotor UAV using MEMS Sensors Tin Thet Nwe, Than Htike...
hello thanks for the reply.
Iam giving 3Volts as the supply for the gyro.
Should i use (Vout-Voffset)*5/1024/sensitivity or (Vout-Voffset)*3/1024/sensitivity
Right now iam using the 1st equation.On stationary the gyro outputs around:x-axis -7.28deg/s and z axis -7.28deg/s
when i rotate quite...
Hey i got the correct answers.no need to invert the factor 5000/1024.
The correct equation is: x_deg/sec=(Vout-Voffset)*(5/1024)/0.00067(V/deg/s)
Voffset--->1.23V as per datasheet.
On stationary, the gyro outputs near 7deg/sec(due to erros)
On rotating rapidly along...
The datasheet reads:
1.23V+SoA*1500=2.23V for 1500deg/s
Where, 1.23 is the Vref or Voffset
That means Vref+SoA*angle=Vout
From IEEE paper(Application of an Inertial Navigation System to the Quad-rotor UAV using MEMS Sensors Tin Thet Nwe...
BUT, as per the datasheet the equations are correct it seems.Here is the link for data sheet:http://www.sparkfun.com/products/9412
Full scale reading:1500°/s max deflection is a lot! This means you've really got to spin the board quickly to see a change in output. This sensor range is good...